EP1253440A1 - Dispositif de détermination de la position d'une mamelle d'un animal - Google Patents

Dispositif de détermination de la position d'une mamelle d'un animal Download PDF

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Publication number
EP1253440A1
EP1253440A1 EP02076615A EP02076615A EP1253440A1 EP 1253440 A1 EP1253440 A1 EP 1253440A1 EP 02076615 A EP02076615 A EP 02076615A EP 02076615 A EP02076615 A EP 02076615A EP 1253440 A1 EP1253440 A1 EP 1253440A1
Authority
EP
European Patent Office
Prior art keywords
ray
rays
teat
rotation
axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP02076615A
Other languages
German (de)
English (en)
Other versions
EP1253440B1 (fr
Inventor
Hélèna Geralda Maria Vijverberg
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Lely Enterprises AG
Original Assignee
Lely Enterprises AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from NL1018563A external-priority patent/NL1018563C1/nl
Application filed by Lely Enterprises AG filed Critical Lely Enterprises AG
Publication of EP1253440A1 publication Critical patent/EP1253440A1/fr
Application granted granted Critical
Publication of EP1253440B1 publication Critical patent/EP1253440B1/fr
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01J—MANUFACTURE OF DAIRY PRODUCTS
    • A01J5/00—Milking machines or devices
    • A01J5/017—Automatic attaching or detaching of clusters
    • A01J5/0175—Attaching of clusters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B26/00—Optical devices or arrangements for the control of light using movable or deformable optical elements
    • G02B26/08—Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
    • G02B26/10—Scanning systems
    • G02B26/12—Scanning systems using multifaceted mirrors

Definitions

  • the invention relates to a device for determining the spatial position of a teat of an animal according to the preamble of claim 1.
  • Such a device is known from the international patent application WO 99/09430. Although this device functions satisfactorily and is adapted to determine highly accurately the position of a teat, in some cases, e.g. in the situation of tilting teats, it appears to be desirable to improve the determination of the position.
  • a device for determining the spatial position of a teat of an animal comprises the measures of claim 1. Because there are obtained at least two spaced-apart position determination surfaces, a more accurate determination of the position is possible due to the fact that there is also obtained a determination of the position in height of the teat, so that tilt of the teat can be determined.
  • the mirror is constituted by a polygon having at least two reflective surfaces, at least one of the reflective surfaces being at a different angle relative to the axis of rotation than one of the remaining reflective surfaces. Due to the fact that a polygon is used, there is obtained in a simple constructive manner a synchronisation of the rotation of the reflective surfaces. As a result thereof the further processing of the data is also simplified.
  • the device is preferably provided with a means for directing the ray or beam of rays emanating from each transmitter element in three spaced-apart relevant position determination surfaces of the relevant sub-area of the space.
  • a means for directing the ray or beam of rays emanating from each transmitter element in three spaced-apart relevant position determination surfaces of the relevant sub-area of the space In practice it has appeared that the use of three position determination surfaces in almost all cases suffices for determining the position of a teat.
  • the mirror is constituted by a pentagon having five reflective surfaces, one of the reflective surfaces being parallel to the axis of rotation, two of the reflective surfaces being at an equal positive angle relative to the axis of rotation, and the remaining two reflective surfaces being at an equal negative angle relative to the axis of rotation.
  • the two outer surfaces being scanned twice at one rotation of the pentagon.
  • the positive and negative angle are between approximately 3° and approximately 13°.
  • two of the reflective surfaces are parallel to the axis of rotation, one of the reflective surfaces being at a first angle relative to the axis of rotation, and the remaining two reflective surfaces being at a second angle relative to the axis of rotation.
  • the first angle is preferably between approximately 1° and approximately 7°
  • the second angle is preferably between approximately 1° and approximately 20°.
  • the invention further relates to a device for determining the position of a teat of an animal relative to the device, said device being provided with a transmitter element for emitting a ray or beam of rays, with at least one receiver element arranged to receive a ray or beam of rays reflected by a teat, and with at least one reflective surface which is rotatable about an axis of rotation for directing the ray or beam of rays emanating from the transmitter element consecutively to a teat and/or for directing the ray or beam of rays emanating from a teat to the receiver element, characterized in that there are provided means for changing the orientation of the reflective surface relative to the teat during rotation of the reflective surface.
  • the means are preferably suitable for changing the orientation of the reflective surface relative to the axis of rotation. Additionally or alternatively the means are suitable for changing the orientation of the axis of rotation. Such a change may take place e.g. by means of an eccentric suspension or a curve disc or the like.
  • the invention further relates to a device for determining the position a teat of an animal relative to the device, said device being provided with a transmitter element for emitting a ray or beam of rays, with at least one receiver element arranged to receive a ray or beam of rays reflected by a teat, and with a mirror which is rotatable about an axis of rotation for directing the ray or beam of rays emanating from the transmitter element consecutively to a teat and/or for directing the ray or beam of rays emanating from a teat to the receiver element, characterized in that the mirror is constituted by a polygon having at least two reflective surfaces, at least one of the reflective surfaces being at a different angle relative to the axis of rotation than one of the remaining reflective surfaces.
  • a particularly accurate determination of not only the position but also of tilt is obtained when one of the reflective surfaces is parallel to the axis of rotation, two of the reflective surfaces are at an equal positive angle relative to the axis of rotation, and the remaining two reflective surfaces are at an equal negative angle relative to the axis of rotation.
  • three detection surfaces the outer surfaces being created by rays or beams of rays emanating from two reflective surfaces, and thus providing a double measurement.
  • the positive and negative angle are preferably between approximately 3° and approximately 13°.
  • the first angle is preferably between approximately 1° and approximately 7°.
  • the second angle is preferably between approximately 1° and approximately 20°. There are especially obtained accurate data when the second angle is at least approximately twice as great as the first angle.
  • the device further comprises means for scanning the space in at least two sub-areas substantially simultaneously. This is preferably realised in that the device is provided with means for directing at least two separate rays or beams of rays to different areas in that space.
  • the transmitter element, the receiver element and the directional element are mounted on a bottom plate so as to form a unit.
  • the device is then assembled by accommodating the bottom plate including elements in a housing having a window for letting through the ray or beam of rays emanating from the transmitter element and/or emanating from a teat, shock-absorbing means being provided between the housing and the bottom plate.
  • shocks exerted on the housing are not transferred or are transferred to a lesser extent to the sensitive components of the device.
  • the window is designed as a flat window and is at an angle relative to the normal on the bottom plate.
  • the device is preferably provided with a dirt detector for detecting contamination of the window.
  • the dirt detector may supply a signal to the operator of the device or to an automatic device for cleaning the window.
  • Such a dirt detector may be constituted by separate receiver elements detecting the rays or beams of rays reflected by the window.
  • the device is preferably provided with anti-condensation means for preventing and/or removing and/or reducing condensation on the inner side of the window, so that the rays or beams of rays are not affected when passing through the window.
  • the anti-condensation means preferably comprise a heating which is integrated into the window.
  • the heating is in particular active continuously, in other words independently of the environmental conditions.
  • the reflective surface independently of quickly varying environmental conditions, is always free from condensation, which enhances the determination of the position.
  • the invention also relates to a device for determining the position of a teat of an animal relative to the device, said device being provided with a transmitter element for emitting a ray or beam of rays, with at least one receiver element arranged to receive a ray or beam of rays reflected by a teat, and with at least one reflective surface which is rotatable about an axis of rotation for directing the ray or beam of rays emanating from the transmitter element consecutively to a teat and/or for directing the ray or beam of rays emanating from a teat to the receiver element, characterized in that the device comprises a housing having a window for letting through the ray or beam of rays emanating from the transmitter element and/or emanating from a teat, the device being provided with a heating which is integrated into the window, the heating being active continuously, in other words independently of the environmental conditions.
  • a further protection against moisture in the housing is obtained when, except the window, the inner side of the walls of the housing is provided with an aluminium coating.
  • the device according to the invention is especially suitable for use in a milking device for milking animals, such as cows, provided with at least one milking parlour comprising at least one milking robot having a robot arm for automatically connecting teat cups to the teats of an animal to be milked, the device being used for determining the position of a teat relative to a teat cup.
  • a milking device in which the device for determining the position of the teat is disposed in a shock-resistant manner is obtained when the housing is covered with a lid that is supported by the robot arm.
  • the lid is preferably made of stainless steel.
  • the embodiment shown in Figures 1 and 2 comprises a housing 1 with side walls and a bottom made of material which is impenetrable for the relevant ray or beam of rays, such as light-proof material for e.g. laser (IR-)light, having at the front side an aperture or window which is sealed with a plate which is penetrable for the relevant ray or beam or rays, such as a glass plate 2.
  • a plate which is penetrable for the relevant ray or beam or rays, such as a glass plate 2.
  • Said plate may also be made e.g. of a suitable synthetic material.
  • Behind the glass plate 2 there is arranged a directional element in the form of a mirror having a reflective surface which reflects the relevant ray or beam of rays.
  • one reflective surface will suffice when there are provided means for changing the orientation of the reflective surface relative to the object.
  • This may be realised e.g. by mounting the axis of rotation 4 in a bearing, said bearing performing a reciprocating movement in the direction towards and away from the window.
  • Such a movement may e.g. be realised by an eccenter or a curve disc.
  • the invention will be described hereinafter with reference to a mirror in the form of a polygon 3 having at least three reflective surfaces which reflect the relevant ray or beam of rays.
  • the polygon 3 is in particular constituted by a pentagon having five reflective surfaces.
  • the polygon 3 is disposed so as to be rotatable about its axis of rotation 4 and is bearing-supported for that purpose at one side with a shaft end 5 in a bearing 6 in a bottom plate 7.
  • the polygon 3 is driven directly via a stepper motor 9.
  • the polygon 3 rotates preferably continuously in the same direction at an at least substantially constant speed, so that its drive is lightly loaded and insensitive to wear.
  • each transmitter element in the form of a laser diode 13, 14 there is each time arranged a transmitter element in the form of a laser diode 13, 14.
  • a respective receiver element 17, 18, here designed as a so-called CCD Below each transmitter element 13, 14 there is disposed a respective receiver element 17, 18, here designed as a so-called CCD.
  • the wavelength of the two diodes 13, 14 is preferably in the range of 600-900 nm, more preferably in the range of 780-830 nm, the wavelengths of the transmitter elements 13, 14 preferably mutually differing such that no interference occurs when the rays or beams of rays 16 emanating from the transmitter elements 13, 14 cross each other.
  • the wavelength difference is such that the sensitiveness of a receiver element 17, 18 can be attuned in a reliable manner to the ray of beam of rays 16 emanating from the transmitter element 13 respectively 14, in order to prevent interference, also in this respect, as much as possible.
  • the transmission amplitude between the transmitter elements 13, 14 may differ.
  • other differences in characteristics of the two rays or beams of rays 16 are possible for counteracting inconvenient effects of interference, e.g. by making use of combinations of two or more of the aforementioned measures.
  • the receiver elements 17, 18 are preferably constituted by a diode sensor. In this situation a receiver element may have a uni-dimensional or two-dimensional series of adjacent detector elements. Each detector element is sensitive to the respective radiation, and in case of exposure to that radiation, supplies a detection signal corresponding with the intensity of that radiation to an evaluation device 10. Each receiver element 17, 18 is attached to the bottom plate 7.
  • the capacity of the evaluation device 10 remains limited, while nevertheless an accurate determination of the position is possible. So the evaluation device 10 processes each time only data from one of the lasers.
  • the directional element 3 is shared by the two rays or beams of rays.
  • each deflecting element is constituted by a reflector 19, 20 including an angle of approximately 30° with the incident ray or beam of rays 16.
  • a respective prism or bundle of glass fibre cables may also be used.
  • each deflecting element 19, 20 and the respective receiver element 17, 18 there is arranged a focusing element or convergence element, in this embodiment constituted by a lens 24, 25, whose function will be elucidated hereinafter.
  • the directional element is adapted to direct each ray or beam of rays 16 over a respective angle sector 22, 23 into the space, so as to determine e.g. the position of a teat 21 of an animal to be milked in that space.
  • the angle is approximately 72° for each angle sector 22, 23.
  • the angle sectors 22 and 23 may overlap each other, e.g. over 2°, so that the total angle area 29 to be scanned in the space amounts to 140°. Because of the fact that each ray or beam of rays 16 is constituted by a laser light, the angle sectors, perpendicular to their plane, are at least substantially non-diverging, except some scattered radiation.
  • the radiation reflected from the space or scattered radiation of the ray or beam of rays 16 is received by the directional element 3 as a reflection beam 27 and directed to the receiver element 17 respectively 18 via the respective deflecting element 19, 20.
  • the reflection beam 26, 27 then passes through the respective lens 24, 25, so that the relatively wide reflection beam 27 is concentrated on a local area of the receiver element.
  • the lens 24, 25 has a fixed focal distance and is, as is apparent from Figure 3, at an angle relative to a robot arm, and also because the lens 24, 25 is attached to the bottom plate 7 and is thus fixedly arranged relative to the respective receiven element 17, 18, the place where the teat 21 is projected on the receiver element 17, 18 is in relation to the position of the teat 21 in the space.
  • the receiver element 17, 18 supplies a corresponding signal, in dependence of the nature of the signal and its further processing, possibly by intervention of an analog-to-digital converter, to an evaluation device 10 (also attached to the bottom plate 7); e.g. constituted by a microprocessor.
  • an evaluation device 10 also attached to the bottom plate 7
  • the principle of scanning the teat 21 by means of a ray or beam of rays to be directed consecutively to different areas in the space, and the processing of the signals obtained by means of the sensor device are known per se.
  • the position of the directional element 3 By updating the position of the directional element 3, e.g. by linking the motor 9 to a pulse generator which generates a pulse per portion of the revolution, e.g. each 1°, by simple calculation in e.g. a microprocessor, the position of the directional element 3 at the moment when a ray or beam of rays reflected by the teat 21 hits the receiver element 17 can be deduced.
  • the teat 21 is located in the other angle sector 22, the ray or beam of rays will emanate of course from the transmitter element 14 and hit the receiver element 17.
  • a position indicator e.g. a protrusion 11 whose position is determined by a detector 12, e.g.
  • the protrusion 11 passes along the detector 12 there is supplied a signal to the evaluation device 10.
  • the signal from the detector 12 may also be used for safety purposes. For example, when during a to be pre-set period the detector 12 does not detect passage of the protrusion, it may be assumed that the polygon 3 rotates, and that the subsequent automatic switching off of the lasers improves the safety.
  • one c both rays or beams of rays 16 may be directed such that, in pre-determined position of the directional element 3, a ray or beam of rays 16 without leaving the device returns to (possibly) additional (non-shown) receiver element via th directional element 3, so that contamination if any can be measured.
  • the glass plate 2 i positioned such that a normal on the glass plate 2 and a emitted ray 16 make an angle for counteracting inconvenien reflection as much as possible.
  • the invention in all its aspects provides the possibility of generating at least two spaced-apart position determination surfaces with the aid of one single transmitter element, the rays or beams of rays to be emitted by the two transmitter elements covering together the space to be scanned on a teat. In this manner it is possible to measure simultaneously the position of a teat in sub-area A by one transmitter element and the position of a teat in sub-area B by the other transmitter element.
  • the positive and negative angle is between approximately 3° and approximately 13°.
  • two of the reflective surfaces are parallel to the axis of rotation, one of the reflective surfaces is at a first angle relative to the axis of rotation, and the remaining two reflective surfaces are at a second angle relative to the axis of rotation.
  • the first angle is between approximately 1° and approximately 7°
  • the second angle is between approximately 1° and approximately 20°.
  • the second angle is preferably at least approximately twice as great as the first angle, the second angle being preferably approximately 5.2° and the first angle being preferably approximately 2.6°.
  • the bottom plate 7 carries the relevant elements of the device, said bottom plate including elements can easily be assembled in the housing 1. Between the housing 1 and the bottom plate 7 there are provided shock-absorbing means 15, such as e.g. rubber rings.
  • the device is preferably provided with (non-shown) anti-condensation means for preventing and/or removing and/or reducing condensation on the inner side of the window, so that the rays or beams of rays are not affected when passing through the window.
  • the anti-condensation means preferably comprise a heating which is integrated into the window and which is active continuously, in other words independently of the environmental conditions.
  • a further protection against moisture in the housing is obtained when the inner side of the walls of the housing, except the window, is provided with an aluminium coating.
  • FIG 3 shows schematically part of the milking device provided with a device according to Figures 1 and 2.
  • the milking device is provided with at least one milking parlour comprising at least one milking robot having a robot arm 31 for automatically connecting teat cups 32 to the teats of an animal to be milked.
  • a scanning device 26 for determining the position of a teat relative to one of the teat cups 32 comprises a device as described with reference to Figures 1 and 2.
  • the scanning device is at an angle relative to the longitudinal direction of the robot arm 31 for enabling determination of position in a simple manner, on the basis of the known triangulation principle.
  • the lid 8 is supported by the robot arm 31 the scanning device 26 for determining the position of the teat is disposed so as to be shock-resistant.
  • the lid is preferably made of stainless steel.
EP02076615A 2001-04-24 2002-04-23 Dispositif de détermination de la position d'une mamelle d'un animal Expired - Fee Related EP1253440B1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
NL1017917 2001-04-24
NL1017917 2001-04-24
NL1018563A NL1018563C1 (nl) 2001-07-17 2001-07-17 Inrichting voor het bepalen van de positie van een object, in het bijzonder een speen van een dier.
NL1018563 2001-07-17

Publications (2)

Publication Number Publication Date
EP1253440A1 true EP1253440A1 (fr) 2002-10-30
EP1253440B1 EP1253440B1 (fr) 2011-07-13

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP02076615A Expired - Fee Related EP1253440B1 (fr) 2001-04-24 2002-04-23 Dispositif de détermination de la position d'une mamelle d'un animal

Country Status (6)

Country Link
US (1) US6647919B2 (fr)
EP (1) EP1253440B1 (fr)
JP (1) JP4217419B2 (fr)
AU (2) AU783377B2 (fr)
CA (1) CA2383101C (fr)
DK (1) DK1253440T3 (fr)

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US8373109B2 (en) 2008-04-09 2013-02-12 Lely Patent N.V. Teat detection device and method therewith in a milking device
US8393296B2 (en) 2011-04-28 2013-03-12 Technologies Holdings Corp. Milking box with robotic attacher including rotatable gripping portion and nozzle
EP2631667A1 (fr) * 2012-02-22 2013-08-28 Ricoh Company, Ltd. Dispositif de mesure de distance
US8590488B2 (en) 2010-08-31 2013-11-26 Technologies Holdings Corp. Vision system for facilitating the automated application of disinfectant to the teats of dairy livestock
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US9043988B2 (en) 2011-04-28 2015-06-02 Technologies Holdings Corp. Milking box with storage area for teat cups
US9049843B2 (en) 2011-04-28 2015-06-09 Technologies Holdings Corp. Milking box with a robotic attacher having a three-dimensional range of motion
US9058657B2 (en) 2011-04-28 2015-06-16 Technologies Holdings Corp. System and method for filtering data captured by a 3D camera
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US9149018B2 (en) 2010-08-31 2015-10-06 Technologies Holdings Corp. System and method for determining whether to operate a robot in conjunction with a rotary milking platform based on detection of a milking claw
US9161511B2 (en) 2010-07-06 2015-10-20 Technologies Holdings Corp. Automated rotary milking system
US9161512B2 (en) 2011-04-28 2015-10-20 Technologies Holdings Corp. Milking box with robotic attacher comprising an arm that pivots, rotates, and grips
US9215861B2 (en) 2011-04-28 2015-12-22 Technologies Holdings Corp. Milking box with robotic attacher and backplane for tracking movements of a dairy animal
US9258975B2 (en) 2011-04-28 2016-02-16 Technologies Holdings Corp. Milking box with robotic attacher and vision system
US9265227B2 (en) 2011-04-28 2016-02-23 Technologies Holdings Corp. System and method for improved attachment of a cup to a dairy animal
US9357744B2 (en) 2011-04-28 2016-06-07 Technologies Holdings Corp. Cleaning system for a milking box stall
US9681634B2 (en) 2011-04-28 2017-06-20 Technologies Holdings Corp. System and method to determine a teat position using edge detection in rear images of a livestock from two cameras
NL2019314A (nl) * 2017-07-21 2017-08-04 Lely Patent Nv Melkbehandelingsinrichting
US10111401B2 (en) 2010-08-31 2018-10-30 Technologies Holdings Corp. System and method for determining whether to operate a robot in conjunction with a rotary parlor
US10127446B2 (en) 2011-04-28 2018-11-13 Technologies Holdings Corp. System and method for filtering data captured by a 2D camera
US10357015B2 (en) 2011-04-28 2019-07-23 Technologies Holdings Corp. Robotic arm with double grabber and method of operation

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NL1020931C2 (nl) 2002-06-24 2003-12-29 Lely Entpr Ag Werkwijze voor het verrichten van een diergerelateerde handeling aan een dier en inrichting voor het uitvoeren van de werkwijze.
GB0716333D0 (en) * 2007-08-22 2007-10-03 White Spark Holdings Ltd Method and apparatus for the automatic grading of condition of livestock
WO2009038779A2 (fr) * 2007-09-19 2009-03-26 University Of Tennessee Research Foundation Procédés et compositions pour l'inhibition de la prolifération cellulaire indésirable par délivrance liposomiale ciblée d'agents actifs
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AU2005222545B2 (en) 2009-05-07
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US20020152963A1 (en) 2002-10-24
JP2003042719A (ja) 2003-02-13
AU3565402A (en) 2002-10-31
EP1253440B1 (fr) 2011-07-13
AU2005222545A1 (en) 2005-11-10
US6647919B2 (en) 2003-11-18
AU783377B2 (en) 2005-10-20
CA2383101A1 (fr) 2002-10-24
JP4217419B2 (ja) 2009-02-04

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